Method of preparing fluid-structure interactive numerical model and method of manufacturing fluttering robot using the same

A method of manufacturing a fluttering robot, comprising:

• the step of preparing numerical model of artificial wing, preparing a numerical model related to a structure of an artificial wing;
• the step of preparing numerical model of detailed figure, which will be a reference of interpolation;
• the step of preparing detailed numerical motion model, preparing detailed numerical motion model corresponding to the manner of motion of said numerical model of detailed figure;
• the step of detailed fluid-structure interactive analysis, calculating a numerical model related to the structure of said numerical model of detailed figure and a numerical model related to fluid of said numerical model of detailed figure, by performing fluid-structure interactive analysis, using said numerical model of detailed figure and said detailed numerical motion model;
• the step of preparing first numerical model of interpolated structure, for preparing a first numerical model of interpolated structure by interpolating the numerical model related to the structure of said artificial wing and said numerical model of detailed figure with a prescribed interpolation ratio;
• the step of preparing a first numerical motion model of the interpolated structure corresponding to said first numerical model of the interpolated structure, by changing said detailed numerical motion model such that change in a specific numerical model is smaller than change in the specific numerical model of the numerical model related to the structure and the numerical model related to fluid resulting from fluid-structure interactive analysis using said first numerical model of the interpolated structure and said detailed numerical motion model;
• the step of first fluid-structure interactive analysis calculating a numerical model related to a structure of said first numerical model of interpolated structure and a numerical model related to fluid of said first numerical model of interpolated structure, by performing fluid-structure interactive analysis, using said first numerical model of interpolated structure and said first numerical motion model of the interpolated structure;
• the step of preparing a second numerical model of interpolated structure by interpolating the numerical model related to the structure of said artificial wing and said first numerical model of interpolated structure with a prescribed interpolation ratio;
• the step of preparing a second numerical motion model of interpolated structure corresponding to said second numerical model of interpolated structure, by changing said first numerical motion model of the interpolated structure, such that change in a specific numerical model is smaller than change in the specific numerical model of the numerical model related to the structure and the numerical model related to fluid resulting from fluid-structure interactive analysis using said second numerical model of interpolated structure and said first numerical motion model of the interpolated structure;
• and
• the step of second fluid-structure interactive analysis calculating a numerical model related to a structure of said second numerical model of interpolated structure and a numerical model related to fluid of said second numerical model of interpolated structure, by performing fluid-structure interactive analysis, using said second numerical model of interpolated structure and said second numerical motion model of the interpolated structure;
• wherein
• while successively updating respective said models until the numerical model of interpolated structure is matched or approximated with the numerical model related to the structure of said artificial wing, accumulatively repeating steps similar to said step of preparing second numerical model of interpolated structure, said step of preparing the second numerical motion model of the interpolated structure and said second fluid-structure interactive analysis step and thereafter, using the numerical motion model of the interpolated structure corresponding to the numerical model of interpolated structure that matches or is approximated with the numerical model related to the structure of said artificial wing, the method of controlling a wing driving apparatus driving the artificial wing is determined.